Vehicle to pedestrian communication system and method

ABSTRACT

A system for alerting a user includes a first device for vehicle-to-pedestrian communication. The first device is operable by a pedestrian. The system further includes a vehicle operable by a driver including a second device for vehicle-to-pedestrian communication. The system is configured to provide an alert via at least one of the first device and second device to at least one of the driver and the pedestrian.

CROSS-REFERENCE TO RELATED APPLICATIONS

Notice: More than one reissue application has been filed for the reissueof U.S. Pat. No. 9,421,909. The reissue applications are applicationSer. No. 16/107,539, filed on Aug. 21, 2018, and Ser. No. 16/103,533(the present application), filed on Aug. 14, 2018. Application Ser. No.16/107,539 is a continuation reissue of Ser. No. 16/103,533. Thisapplication is based on, claims the benefit of, and incorporates hereinby reference U.S. Provisional Application No. 61/861,886, filed on Aug.2, 2013.

BACKGROUND OF THE INVENTION

Wireless technology has the potential to enable vehicles to communicatewith each other and with the infrastructure around them. Connectedvehicle technology—Vehicle to Vehicle (V2V) and Vehicle toInfrastructure (V2I)—could one day alert motorists of dangerous roadwayconditions, impending collisions, or dangerous curves. Connectedvehicles could also “talk” to traffic signals, work zones, toll booths,school zones, and other types of infrastructure.

Connected vehicle systems are based on Dedicated Short RangeCommunications (DSRC)—a technology similar to Wi-Fi—which is fast,secure, reliable, and unlikely to be vulnerable to interference. Usingeither in-vehicle or after-market devices that continuously shareimportant safety and mobility information, vehicles ranging from cars totrucks and buses to trains would be able to “talk” to each other and todifferent types of roadway infrastructure.

Analyses by the U.S. Department of Transportation's National HighwayTraffic Safety Administration (NHTSA) show connected vehicle technologycould potentially address approximately 80 percent of the crashscenarios involving non-impaired drivers. Specifically, NHTSA researchshows that this technology could help prevent the majority of types ofcrashes that typically occur in the real world, such as crashes atintersections or while changing lanes.

The NHTSA announced a decision in February of 2014 to begin taking stepsto enable V2V communication technology for light vehicles indicatingthat the NHTSA may move forward with rulemaking that would requirefuture vehicles to support V2V and V2I data communications for safetyapplications. Connected V2V and V2I safety applications heavily rely onthe Basic Safety Message (BSM), which is one of the messages defined inthe Society of Automotive standard J2735, DSRC Message Set Dictionary,November 2009. The BSM is broadcast from vehicles over the 5.9 GHz DSRCband. Transmission range is on the order of 1,000 meters. The BSMconsists of two parts (Table 1). BSM Part 1 contains core data elements,including vehicle position, heading, speed, acceleration, steering wheelangle, and vehicle size and is transmitted at an adjustable rate ofabout 10 times per second. BSM Part 2 contains a variable set of dataelements drawn from an extensive list of optional elements. They areselected based on event triggers (e.g., ABS activated) and are added toPart 1 and sent as part of the BSM message, but are transmitted lessfrequently in order to conserve bandwidth. The BSM message includes onlycurrent snapshots (with the exception of path data which is itselflimited to a few second's worth of past history data).

TABLE 1 Constituents of BSM Parts 1 and 2 BSM Part 1 BSM Part 2 Position(local 3D): Road coefficient of friction Latitude Rainsensor/precipitation sensor Longitude Traction Control System activeover 100 msec Elevation Antilock Brake System active over 100 msecPositional accuracy Lights changed and Exterior lights (status) Motion:Wipers changed and wiper status Transmission state Ambient airtemperature speed Ambient air pressure heading Vehicle type (currentlyonly for fleet vehicles) Steering wheel angle Acceleration Set (4-way):this includes 3 axes of acceleration plus yaw rate Vehicle Size

Although connected V2V and V2I safety applications have the potential toimprove inter-vehicle communication, these applications do not addressbroader scenarios—specifically, Vehicle to Pedestrian (V2P)communication.

SUMMARY OF THE INVENTION

In one embodiment, the present disclosure provides a system for alertinga user. The system includes a first device for vehicle-to-pedestriancommunication, the first device operable by a pedestrian, and a vehicleoperable by a driver including a second device for vehicle-to-pedestriancommunication. The system is configured to provide an alert via at leastone of the first device and second device to at least one of the driverand the pedestrian.

In another embodiment, the present disclosure provides a method ofdetecting a pedestrian. The method includes communicating a firstmessage with a first device for vehicle-to-pedestrian communication. Thefirst device is operable by a pedestrian. The method further includesreceiving the first message with a second device for vehicle topedestrian communication and providing an alert to a user of a vehicleincluding the second device, the alert indicative of at least one aspectof the first message.

In a further embodiment, the present disclosure provides a method ofoperating a vehicle-to-pedestrian (V2P) communication system. The methodincludes acquiring vehicle parameters for a vehicle including a firstV2P device, predicting a path of the vehicle based on at least one ofthe vehicle parameters, and receiving at least one Basic Safety Message(BSM) from a second V2P device associated with a pedestrian. The methodfurther includes acquiring pedestrian parameters for the pedestrian,predicting a path of the pedestrian based on at least one of thepedestrian parameters, determining whether the path of the vehicleintersects with the path of the pedestrian, and providing an alert to atleast one of a driver of the vehicle and the pedestrian.

In another embodiment, a vehicle-to-pedestrian (V2P) communicationsystem includes a vehicle operable by a driver and configured tocommunicate with a first V2P device associated with the vehicle, thefirst V2P device configured for communicating with at least one vehiclesystem to acquire vehicle parameters for the vehicle including the firstV2P device, the vehicle parameters including at least one of a locationand a speed of the vehicle, predicting a path of the vehicle based on atleast one of the vehicle parameters, receiving at least one Basic SafetyMessage (BSM) from a second V2P device associated with a pedestrian viaa wireless communications channel, acquiring pedestrian parameters forthe pedestrian from at least one of the at least one BSM and the secondV2P device, the pedestrian parameters including at least one of aposition and a speed of the pedestrian, determining whether the path ofthe vehicle intersects with a path of the pedestrian using the vehicleparameters, the at least one BSM, and the pedestrian parameters and,when the path of the vehicle intersects with the path of the pedestrian,providing an alert to at least one of a driver of the vehicle and thepedestrian.

In another embodiment, a method of operating a vehicle-to-pedestrian(V2P) communication system includes communicating with at least onevehicle system to acquire vehicle parameters for a vehicle including afirst V2P device, the vehicle parameters including at least one of alocation and a speed of the vehicle, predicting a path of the vehiclebased on at least one of the vehicle parameters, receiving at least oneBasic Safety Message (BSM) from a second V2P device associated with apedestrian via a wireless communications channel, acquiring pedestrianparameters for the pedestrian, the pedestrian parameters including atleast one of a position and a speed of the pedestrian, predicting a pathof the pedestrian based on at least one of the pedestrian parameters,determining whether the path of the vehicle intersects with the path ofthe pedestrian, and, when the path of the vehicle intersects with thepath of the pedestrian, providing an alert to at least one of a driverof the vehicle and the pedestrian.

The foregoing and other aspects and advantages of the invention willappear from the following description. In the description, reference ismade to the accompanying drawings which form a part hereof, and in whichthere is shown by way of illustration a preferred embodiment of theinvention. Such embodiment does not necessarily represent the full scopeof the invention, however, and reference is made therefore to the claimsand herein for interpreting the scope of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic illustration of some of the components of the V2Pcommunications system.

FIG. 2 is a schematic illustration of a method of pedestrianclassification using the V2P system.

FIG. 3 shows an example method for classification of a pedestrian as achild and a potential outcome of the classification.

FIG. 4 is a schematic illustration of a driver to pedestrian transition.

FIG. 5 is a schematic illustration of a pedestrian to driver transition.

FIG. 6 is a schematic illustration of a vehicle on a roadway withoverlaid alert zones.

FIG. 7 is a schematic illustration of example alerts that may beprovided by a visual interface.

FIG. 8 is a schematic illustration of a varying alert as a function of avehicle's distance to a pedestrian.

FIG. 9 is a schematic illustration of a vehicle path predictionalgorithm for a vehicle with a zero yaw rate indicative of a straightpath of travel.

FIG. 10 is a schematic illustration of a vehicle path predictionalgorithm for a vehicle with a positive yaw rate indicative of a turningmaneuver.

FIG. 11 is a schematic illustration of pedestrian path predictionalgorithm.

FIG. 12 is a schematic illustration of an algorithm for predicting theintersection of a pedestrian path with a vehicle path in a vehicle warnzone.

FIG. 13 is a schematic illustration of an algorithm for predicting theintersection of a pedestrian path with a vehicle path in a vehiclewarn/brake zone.

FIG. 14 is a schematic illustration of a pedestrian traveling along agenerally parallel path to a vehicle.

FIG. 15 is a schematic illustration of a pedestrian traveling along agenerally perpendicular path to a vehicle.

FIG. 16 is a schematic illustration of an example method for selectingbetween a regular warning algorithm and a suppressed warning algorithmfor scenarios such as those illustrated in FIGS. 14 and 15.

FIG. 17 is a schematic illustration of an example method for use with aV2P communication system.

FIG. 18 is a continuation of the method of FIG. 17.

Like reference numerals will be used to refer to like parts from figureto figure in the following detailed description.

DETAILED DESCRIPTION OF THE INVENTION

Although connected V2V and V2I safety applications have the potential toimprove inter-vehicle communication, these applications do not addressbroader scenarios—specifically, V2P communication.

The present V2P communication system and method broadly address avariety of scenarios where a driver of a vehicle may come into contactwith a pedestrian. In the present disclosure, a pedestrian is defined asany road user or any person in the vicinity of a road, highway, parkinglot or other thoroughfare on which a vehicle may travel. In one aspect,a pedestrian may be a person on foot and in another aspect, a pedestrianmay be an operator of a pedestrian transportation means such as abicycle, unicycle, powered or unpowered wheelchair, Segway®, scooter,moped, or another similar motorized or non-motorized transportationmeans.

One or more algorithms may be used to distinguish among walkingpedestrians, wheelchair riders, bicycle riders, Segway® riders, and thelike. In one example, a device carried by a user may include a button orother interface to allow the user to indicate their status. Accordingly,a user may indicate that they are a pedestrian, on a bicycle, on ascooter and so forth. In another aspect, blind or deaf users mayinterface with a device to select from options such as “disability:hearing”, “disability: vision”, and the like. A user may manually entera status or select from a list of predetermined options.

In another example, a device may automatically detect and/or classifythe user. One method for automatic detection/classification includesidentifying factors such as the kinematic behavior of the user. In oneaspect, a pedestrian may have an average speed for walking of about 1-2meter per second. Moreover, the gait or cadence of the pedestrian may becharacterized by a vertical acceleration in addition to horizontalmovement. In another aspect, a manual wheelchair user may have anaverage wheelchair speed of about 0.3 meters per second, which may beless than a pedestrian. A wheelchair user may not exhibit verticalmotion. Furthermore, if a wheelchair is propelled with the hands of auser of the wheelchair (i.e., self-propelled), the intermittent turningof the wheels of the wheelchair by the user may result in speedfluctuations or pulses as opposed to the more constant speed of apedestrian. In a yet another aspect, a powered wheelchair may have anaverage speed of about 0.4 meters per sec with relatively constanthorizontal movement. In a further aspect, a scooter or Segway® may havean average speed of about 5-8 meters per second, with top speeds of upto or exceeding 12 meters per second. While the scooter or Segway® maybehave similarly to a powered wheelchair, with relatively little to novertical motion and a relatively constant speed, the scooter or Segway®may be differentiated from the relatively slower electrical wheelchair.

The V2P communication system and method may rely on any suitablecommunication medium, technology or combination thereof. In one aspect,the system may include a vehicle with at least one of a factoryinstalled device and an aftermarket device that is integrated with thevehicle. In another aspect, the system may include a mobile device suchas a smart phone, personal Global Positioning System (GPS), or adedicated device designed explicitly for the V2P communication system.The aforementioned devices and vehicles may be operated by and/orassociated with the driver of a vehicle or a pedestrian, such as apedestrian on foot or a pedestrian in operation of a vehicle such as aone of the aforementioned pedestrian transportation means. The devicesmay also be referred to as V2P enabled devices. In the case of aparticular example device, communication may be achieved through Wi-Fiat a frequency of 5.8 GHz or 2.4 GHz. Alternatively, communication maybe carried out over DSRC at a frequency of 5.9 GHz in the United States,or at a frequency of 5.8 GHz in Europe and Japan.

In one aspect, a user of a device may or may not be able to modify theability of a V2P device to broadcast a BSM. A V2P device may beprogrammed by a manufacture or vendor of the device to broadcast a BSMat a predetermined rate or under predetermined conditions. In oneexample, a V2P device may be programmed to broadcast a BSM every secondor every 0.1 seconds. In another example, a V2P device may be programmedto determine the context of the device (e.g., indoors vs. outside) andonly broadcast when a particular context is detected.

In one aspect, the device includes GPS positioning capability so that aposition of a device (e.g., latitude, longitude, elevation) may becommunicated to the receiving side such as a vehicle. In another aspect,the minimum processing power of a device may vary depending on theimplementation of the present system and method. For example, a portionof the computation processing may be carried out on a device carried bya pedestrian or other user. The computation may include verification ofincoming messages from vehicles, determination of potential threats andgeneration of alerts to warn the user of the device accordingly.Verification may include one or more safeguards to prevent or identifyfalse reporting (e.g., a pedestrian on a bus) or to verify theauthenticity of a message to prevent tampering with messages or thebroadcasting of malevolent messages. Moreover, verification may beachieved by verifying each message's authenticity, every other messagesauthenticity, or every tenth message's authenticity (e.g., 10% randomsampling). In one aspect, computation power requirements may be reducedby about 90% for a 10% sampling rate. Reducing processing power, or theenergy used by a V2P device in general, may be useful in the case of abattery-powered device.

Communications sent and received by the V2P system include, but are notlimited to BSMs. BSMs, as described above, may include one or more ofthe elements listed in Table 1 as well as additional elements notlisted. Some of the elements that are not listed will be describedherein, while still others are anticipated and will become apparentgiven the various embodiments of the V2P system.

In one embodiment, the V2P communication system and method mayfacilitate pedestrian classification. A driver of a vehicle mayencounter a pedestrian with a disability, such as a pedestrian withimpaired hearing or vision. Alternatively, the pedestrian may be a childor inebriated. The V2P communication system and method may identifyinformation about the pedestrian and alert either or both of the driverand the pedestrian of the presence of the other. Moreover, theinformation gathered may be used to classify the pedestrian in order totailor the alert that the driver and/or pedestrian receives.

In another embodiment, the V2P communication system and method may beused to detect a distracted driver or pedestrian and provide informationsuch as an alert to the driver or pedestrian or both based on a givenscenario. In one aspect, a distracted driver and/or pedestrian may beidentified based on a detected behavior of the driver and/or pedestrian.In one aspect, the detecting device may include any of theaforementioned devices suitable in the implementation of the V2P system.

In yet another embodiment, the V2P communication system and method maybe applied to detect a driver-pedestrian transition or a pedestriancross-street intention. One algorithm for detecting a vehicle driver topedestrian transition may include detection of the deactivation of aBluetooth hands-free link, detection of removal of a key from thevehicle ignition, detection of the vehicle engine being turned off, orthe transition of a portable device (e.g., a smart phone) from a vehiclestate to a pedestrian state. In the case of the latter example, a devicemay be characterized by constant movement during transport in thevehicle, whereas the device may be characterized by abrupt or shortmovements as the device is moved from the interior of the vehicle to alocation exterior to the vehicle, thereby transitioning to a portabledevice carried by the user (i.e., pedestrian). This abrupt and shortmovement may be detected by an accelerometer included in the device.Moreover, movement detection may be combined with vehicle door open andclose signals, or other data acquired by the vehicle or the device inorder to confirm that the device is now outside the vehicle after thedriver leave the vehicle.

In one aspect, the system may detect the act (or intention) of apedestrian entering or exiting a vehicle and provide a correspondingalert. In an exiting scenario, an alert may indicate that a pedestrianmay be entering the vicinity. Conversely, in an entering scenario, analert may indicate that a vehicle may be entering the vicinity.Furthermore, the information broadcast by the V2P system may be theresult of the intention of exiting or entering a vehicle. Given thelocation of the user of the system relative to the vehicle, a customizedalert may be generated such as an indication of the possibility of auser crossing a roadway in order to enter the vehicle.

In still another embodiment, the V2P communication system and method maybe applied to predict a pedestrian trajectory. In one aspect, the systemuses information provided by a device associated with the pedestrian inorder to estimate a future position of the pedestrian based on historyof the pedestrian, such as historical location data. Example informationmay include a pedestrian's every day walking path history to determinethe mostly likely location of a future street crossing location andpattern. Alternative (or additional) information may include use of mapdata that lists street crossing, curb, or paint location information.This map data may be combined with a pedestrian's current movement topredict a crossing location and direction.

A communication system and method are provided that enable V2Pcommunication. The V2P communication system and method broadly address avariety of scenarios where a driver of a vehicle may cross paths with apedestrian and vice versa. Referring to FIG. 1, a pedestrian 20 may beassociated with a V2P enabled device 10. In addition, a vehicle 40 witha driver 30 is shown. The driver 30 travels on a roadway 50 near thepedestrian 20. The vehicle 40 may also be associated with a V2P enableddevice 10. The V2P enabled devices 10 are in communication with oneanother using, for example, DSRC.

Pedestrian Classification

In one aspect, the V2P communication system and methods encompasspedestrian classification (FIG. 2). The V2P system may be capable ofclassifying a given pedestrian 20 as, for example, a wheelchair user 22,a blind person 24 or deaf person 26, or a regular pedestrian withoutdisability. This classification may impact the behavior of the driver30. Alternatively, the V2P system may control the vehicle 40 toautomatically react such as through the use of an audible signalexterior to the vehicle, through the use of flashing the vehicleslights, or by engaging the braking system.

Once the device 10 carried by the pedestrian 20 detects the type and thedisability classification of the user of the device 10, the device 10may incorporate the classification information into the broadcasting ofa safety message. A vehicle 40 may receive these messages and determinethat the pedestrian 20 may, for example, have impaired vision.Thereafter, the vehicle 40 may actuate an audible warning such asvehicle horn to warn the pedestrian 20. If the pedestrian 20 is awheelchair user, the vehicle 40 may actuate a brake of the vehicle 40.Accordingly, the approach of the vehicle 40 towards the pedestrian 20 inthe wheelchair may be slowed to provide the wheelchair user with agreater amount of clearance or time to complete a street crossingmaneuver. In one aspect, the clearance may enable the wheelchair user tofeel less vulnerable as compared to a pedestrian 20 that does notrequire a wheelchair.

A V2P information conveyance device, such as an alert system, mayaccurately assess the alert timing and alert interface based onknowledge of the specific needs from a pedestrian, such as whether adisabled pedestrian requires additional street-crossing time or wherethe likely crossing location is—(e.g., where the road curb is gradedproperly for wheelchair travel).

In one implementation, for the BSM-capable mobile device users withspecial needs/disabilities, the device may add their special needsinformation as part of the BSM transmission. In that case, the user mayuse a setup interface provided by the mobile device to enter informationdescribing their disabilities or special needs. In the case of awheelchair user, for example, safety algorithms may be running on thevehicle as well as in the wheelchair user's mobile device. For example,for a wheelchair user with BSM capability in his or her mobile device,the wheelchair user's mobile device (e.g., a mobile phone or otherdevices capable of processing and transceiving safety messages)transmits awareness messages similar to the BSM, with additionalinformation such as the classification of the user (e.g., physicallyhandicapped), the classification of the pedestrians transportation means(e.g., a wheelchair) and other information, to help the vehicles andother drivers and pedestrians to identify the movement characteristicsof the wheelchair user in order to perform collision threat assessment.

Other information that may be transmitted in addition to or in place ofa BSM may include whether the user is listening to music, texting,talking on the phone, or browsing the internet. The vehicle, uponreceiving the information transmitted by the device, may determine theprobability of the pedestrian being distracted. If the vehicledetermines that the probability of distraction may be likely, then thevehicle may warn the pedestrian. Example warnings may include an audibleor visual alert. Moreover, the vehicle may actuate the brakes or alertthe driver that a greater stopping distance may be required to accountfor the distracted pedestrian. By comparison, the device may warn thepedestrian by providing an audible or visual alert, by interrupting ordeactivating programs with which the user may be interfacing, or thelike.

In one example involving a wheelchair user, the vehicle may use the BSMsreceived from the wheelchair user, analyze data such as lateralacceleration, longitudinal acceleration, vertical acceleration, speed,heading, yaw rate and other parameters. Furthermore, the vehicle maydetect a distinctive movement pattern of the user of the device, orfurther classify the mobile device user as a wheelchair user. In yetanother aspect, the vehicle may use this analysis, combined with themobile device's additional user information, to confirm the wheelchairuser classification. The mobile device and any systems associated withthe vehicle may also use the wheelchair use information to furtherdetermine the wheelchair user's potential road crossing location, whichmay be restricted to the crosswalk curbs that are properly graded forwheelchair access.

In one aspect, a cooperative safety application running in the vehiclecalculates the threat of potential collision with the wheelchair user.If the probability of a collision is low, the vehicle informs the driverthat the wheelchair user may be present. If the probability becomeshigh, the vehicle warns the driver more aggressively. The probabilitymay be calculated based on factors including the distance to collisionand the time to collision. While varied algorithms may be used tocalculate a probability, one example includes the use of a bounding boxhaving multiple alert zones (see, e.g., FIG. 6). In another aspect, asimilar safety application may running on the wheelchair user's mobiledevice, and warns the wheelchair user of whether the possibility ofcollision may be high. Warnings are more aggressive in the case of awheelchair user with potentially slower movement. For example, awheelchair user may take a longer time to cross a street compared to anon-wheelchair user. The vehicle may take into account this informationwhile determining the warning timing, and/or extend the waiting time forthe wheelchair user (or other user having a condition resulting in alower than expected speed when crossing the street) to complete thestreet crossing maneuver.

In another example involving a visually impaired pedestrian, in a mannersimilar to the wheelchair user, the visually impaired pedestrian may bedetected by their special movement pattern such as the use of a guidecane that results in a characteristic audible pattern that may bedetected by a device associated with the pedestrian and be transmittedas part of the BSM from the device. Similarly, a hearing impairedpedestrian may set their V2P device to, for example, a high-vibrationmode or any other suitable settings for one with a hearing impairment.Again, once the V2P device makes the determination that the pedestrianmay be visually impaired, messages notifying nearby vehicles of thecondition of the pedestrian may be broadcast.

Classification aspects of the V2P systems and methods may also extend tothe classification of children and adults. Safety algorithms may beimplemented on V2P devices associated with either or both of the driverand the pedestrian. In one example, a cooperative safety applicationrunning on a device associated with a vehicle calculates the threat ofpotential collision with the pedestrian. If a child or similar person isdetected, the vehicle informs the driver that children are present. Asimilar safety application may be implemented on a device associatedwith the child pedestrian that warns the pedestrian if there is adriver/vehicle approaching. Warnings may be tailored for children suchthat they are more aggressive (e.g., louder, longer), for example.

In one example, the V2P system may detect if a child or adult iscarrying a V2P device by employing one or more methods. Methods mayinclude the use of parental controls where a parent configures settingson the device associated with the child pedestrian indicating that achild is carrying the device. Alternatively, the device may use smartcontext sensing, including i) the use of a precise elevation thresholdobtained from a GPS receiver in the device; ii) movement patternmatching (i.e., a child's movement pattern will differ from an adult's);and iii) the device (or system in communication with the device)automatically calculating the probability that a child is carrying thedevice based on usage factors.

Example usage factors for characterizing a user as a child may includeidentification of a gait, stride or cadence as the movement pattern of achild may be characterized by smaller steps or smaller horizontalmovement per step as compared with an average adult. An algorithm mayadditionally (or alternatively) include time of day and the locationinformation which may correspond with a school zone or the likelihoodthat a child is traveling to or from school. In the case of a childusing a V2P smart phone, usage factors may include the browsing history,use of services such as social media and e-mail, and the type of musicbeing played. Such factors may be analyzed, for example, with profilingalgorithms to determine whether the user is a child. In a specificexample, if children songs are being played on the device, an algorithmmay determine that the device is currently associated with a child.

Referring to FIG. 3, a method 100 is illustrated. In 102, a device suchas a smart phone and a device associated with a vehicles periodically(or frequently) transmit awareness messages. In 104, an awarenessmessage coming form the smart phone contains information that a child iscarrying the smart phone device. This indication may be determinedthrough the analysis of the status of parental controls on the smartphone or through precise elevation threshold data from a GPS receiver inthe smart phone. In 106, a cooperative safety application running on thevehicle calculates the threat of potential collision. If a highprobability of collision is calculated, the vehicle warns the driver.Then, in 108, a supporting application on the smart phone provides thepedestrian with an indication of whether the pedestrian is in a childfriendly surrounding, whether there are nearby cars, and warnings of anypotential collisions. Finally, in 110, if a potential collision isdetected, warnings provided by the device are more aggressive and inadvance in the case of children pedestrians. Pedestrian TransitionDetection

In another embodiment, the V2P communications system and methods may beapplied to the detection of a transition state of a pedestrian (FIGS.4-5). In one aspect, V2P enabled devices associated with the pedestrianare in communication with a vehicle to detect a driver-pedestriantransition and the intention of a pedestrian to traverse a roadway tointeract with (e.g., drive) a vehicle.

In one example, the V2P system may be applied to detect a transition ofa driver to a pedestrian and vice versa. This transition stateinformation may be useful to help vehicles detect a potential pedestrianpresence in the area, and may also be used to regulate a deviceassociated with the pedestrian, for example, to turn the safety messagetransmission on or off for the purpose of reducing power consumption V2Papplications and transmissions associated with the device.

Referring to FIG. 4, a driver 30 to pedestrian 20 transition may bedetected with the V2P communications system and methods. One type ofdriver to pedestrian transition occurs when a driver 30 of a vehicle 40parks the vehicle, and upon exiting the vehicle, is now classified as apedestrian 20. The transition may be detected, for example, by a doorajar signal generated by the vehicle sensor output bus and communicatedto the V2P enabled device 10 associated with the driver of the vehicle.Alternatively, or in addition, a g-sensor or other sensor outputassociated with the device may be used to detect the transition.

In one aspect, the accelerometer on the device 10 may provide a 3-Dacceleration pattern which is characteristic of movement of a phone froman interior of the vehicle 40 (e.g., sitting on the seat in a bag, or inthe pocket of the driver 30) to outside the vehicle 40. For example,after a period of generally horizontal movement while the vehicle 40 isin motion, the horizontal movement may stop as the vehicle 40 stops.Thereafter, the vertical acceleration may spike (e.g., device 10 beingpicked up) followed by horizontal movement (e.g., device 10 beinghandled within the vehicle 40), and then vertical movement as the driver30 exits the vehicle 40 and stands up. The device 10 may then experiencea typical walking related movement pattern. In one aspect, a device 10may be able to sense operation of a door of a vehicle 40 (e.g., audibleor motion characteristic, signal from vehicle 40) to predict atransition from a driver 30 to a pedestrian 20. In a further aspect,this information may be sent as part of the BSM from a device to informthe surrounding road users/drivers/pedestrians, to be alerted of apotential pedestrian presence.

Referring to FIG. 5, a pedestrian to driver transition may be detectedwith a V2P system. One type of pedestrian to driver transition occurswhen a pedestrian 20 approaches and enters a vehicle 40 such that thepedestrian is now classified as a driver 30. The transition may bedetected, for example, When a pedestrian walks towards an associatedvehicle and actuates a vehicle unlock signal (e.g., with a keyless fob).The vehicle 40 associated with the pedestrian may send BSMs to informthe surrounding road users of a pedestrian approaching the vehicle. If aroadway lies in between the vehicle and the pedestrian, a deviceassociated with the vehicle or the pedestrian may send an alert that apedestrian is potentially intending to cross the roadway as part of aBSM. The surrounding drivers and pedestrians will be able to prepare forthe presence of a pedestrian and the transition of the pedestrian tobecoming a driver, along with the possibility of a roadway crossing.

In a third aspect, a number of triggers, such as a vehicle door ajarsignal, starting or stopping of the engine, or a characteristic movementof a V2P enabled device associated with the driver/pedestrian may bedetected in order to turn on or off the BSM transmission and relatedapplications in order to reduce power consumption by the device. In oneexample, the V2P enabled device 10 is a smart phone running a V2Papplication. When the driver associated with the device exits a vehicleand transitions to become a pedestrian, a signal is detected, such as adoor lock signal, and the application activates transmission of a BSM.At a later time, the pedestrian returns to the vehicle. Upon enteringthe vehicle and transitioning to a driver, a signal, such as a doorunlock signal is detected and the application on the smart phonedeactivates transmission of the BSM. In one example, a second V2P deviceintegrated with the vehicle may now accept responsibility fortransmitting the BSM.

Distracted Driver Detection

In yet another embodiment, the V2P system and methods, may be applied tothe detection of a driver's current state of attentiveness to thesurroundings, which may include the presence of one or more pedestrians.In one aspect, the reliability of detection may be improved bydetecting, for example, a driver's cell phone usage information, thedistance of their phone to the steering wheel, and/or the interaction ofa driver with a sensor on the steering wheel.

In certain applications of the V2P system, a driver of a surroundingvehicle (peripheral driver) may be alerted to the behavior of a givendriver associated with a V2P device. In one aspect, a peripheral drivermay be frustrated by a slow-leading vehicle as the reason for thereduced speed of the lead vehicle is unknown. With driver distractioninformation exchanged among the vehicle drivers and other road users byway of the V2P system, drivers, pedestrians and other road user'sanxiety levels may be reduced.

In one example, V2P technology may be based on broadcast wirelessinformation. Each device in the system may have a unique ID. The devicemay broadcast information and any other device within the communicationrange may receive the information. Each device takes the informationreceived from each other device within range and determines whether theinformation received is relevant. For example, messages received by aV2P equipped vehicle from another vehicle located 400 meters away maynot be as relevant as a message received from a vehicle located 50meters away in a blind spot of the receiving vehicle, or located 100meters away and heading towards the receiving vehicle. In one aspect,filtering and analysis of received messages may be based on a predictedprobability of collision or occurrence of another threat. Accordingly, aV2P system may be capable of monitoring and/or prioritizing multiplesubjects or threats.

In another aspect, a device associated with a vehicle may detect its owndriver being distracted. In one example, a range-sensitive antenna maybe installed in the steering wheel to measure the distance between thesteering wheel and the mobile device operated by a driver. Alternatively(or in addition to the antenna), a driver-facing camera may be used todetermine a distraction state of the driver.

In certain scenarios, a driver may operate a vehicle without the use ofthe hands, such as in the case of the driver operating the wheel withhis or her knees. A touch/load sensor may detect the use of knee-basedoperation of the vehicle and determine, optionally in conjunction withone or more additional sensors, the distraction state of the driver. Inone implementation, a load sensor may be built into the steering column.In this case, the load on the steering column will be different if adriver has his or her hands on the steering wheel or if anotherextremity (e.g., knees) is incident upon the steering wheel for control.In another implementation, a touch sensor may be deployed around theperimeter of the steering wheel to detect steering without the use ofthe hands. In yet another implementation, the distraction state of thedriver may be detected by the driver's mobile device (e.g., a smartphone). In this case, the smart phone may be configured to interfacewith the V2P device associated with the driver and/or the driver'svehicle. In one aspect, the V2P device and the driver's smart phone areone and the same.

Information related to the distraction state of the driver may be usedby the V2P communication system in multiple ways. For example, theinformation may indicate to the driver's vehicle to alert the driver toa need to monitor the surrounding. The vehicle's safety system's warningtiming and visual interface (if present) may be adjusted accordingly toinclude more aggressive warnings encompassing louder audio, moreprominent visual alerts, and the like.

In another example, the information may be used as part of a BSMtransmission to inform surrounding drivers and pedestrians that arecapable of receiving and processing the BSMs. For example, a followingvehicle may now understand that the cause of a leading vehicle'suncharacteristic deceleration is the result of mobile device usage bythe offending driver. This piece of information may reduce the followingvehicle driver's anxiety level and inform the driving behavior of theperipheral driver. Other drivers and pedestrians may pay extra attentionto the vehicle with a distracted driver. For example, a pedestrian witha mobile device capable of processing the vehicle's BSM may be informedto be extra cautious if the pedestrian plans to cross the street.

Distracted Pedestrian Detection

In still another embodiment, the V2P communications system and methodmay be applicable to the detection and transmission of a pedestrian'sattentiveness level. In one example, the V2P system may detect usage ofa device by a pedestrian and subsequently transmit usage informationrelated to whether the pedestrian may be playing music, texting, talkingon the phone, and so forth. In certain embodiments, this information maybe useful for vehicle drivers and other pedestrians with V2P enableddevices capable of BSM transmission and safety application processing.For example, the information may be used to manually or automaticallyadjust the vehicle's on board pedestrian warning system. For example,more aggressive timing for warnings and louder audio output external tothe vehicle to warn the driver and the pedestrian may be implemented dueto the expected lack of response from the pedestrian.

In one aspect, a BSM from a V2P enabled device, may be used to analyzethe movement of the device (e.g., acceleration, speed, heading change,etc.) and estimate whether the device is being held in a hand or in apocket, purse, backpack, or the like. A device carried in a pedestrian'shand will have a distinctive movement pattern compared to a device thatis in a bag or in a pocket. In another aspect, a light sensor associatedwith the pedestrian's V2P enabled device may be used to detect if thedevice is held in a hand or stored in a pocket. For example, a lightsensor may detect a current light level to determine whether theassociated device in located within an enclosure or not. Upon thedetermination of the likelihood that the device associated with thepedestrian is held in the hand of the pedestrian, the device associatedwith the vehicle may adjust the parameters of the vehicle alert systemaccordingly.

In some embodiments, the detection of the distracted pedestrian mayresult in the presentation of a variable, situation-dependentaudio/visual interface. For example, if a pedestrian is using a V2Penabled device to send a text message, a device associated with thevehicle may automatically sound the vehicle's horn to warn thepedestrian. In another example, if the pedestrian is using a device tolisten to music, then a combination of flashing the vehicle's headlightsand sounding the vehicle's horn may be a better contextual warning giventhat the pedestrian's hearing may be impaired by the use of headphones.Furthermore, for the benefit of the driver of the vehicle, an interfacein the vehicle may, for example, display a context-dependent alert oradjust the timing of when the alert is provided. In the case of avisually impaired pedestrian, in one aspect, a V2P enabled device mayvibrate as a warning the pedestrian.

Referring to FIG. 6, a schematic illustration is shown in which avehicle 40 travels along a roadway 50. If a pedestrian (not shown)enters the roadway, an alert may be generated based on the distance ofthe pedestrian from the vehicle 40 as shown by the overlaid inform zone52, warn zone 54, and warn/brake zone 56. In some embodiments, theinform zone 52 and warn zone 54 may include an area that is about threelane widths wide, whereas the warn/brake zone 54 may include an areathat is about one lane width wide. In FIG. 7, an exemplary set of alertsare shown which may be provided to either the driver of the vehicle orthe pedestrian via an interface associated with a vehicle or a device.The alerts may indicate a hidden pedestrian 61, a pedestrian distractedby operation of a device (e.g., texting) 62, a pedestrian listening tomusic 63, a pedestrian talking on a phone 64, and a pedestrianapproaching the roadway 65.

The alerts may be presented based on a location of the pedestrianrelative to the vehicle (driver's side vs. passenger side). The alertsmay also indicate that the driver should brake 66. Referring to FIG. 8,the alerts may also be specific to a distance of a pedestrian to avehicle. For example, a single audible signal 70 may alert the driver ofvehicle 40 that a pedestrian is somewhat close to the vehicle (e.g., 100feet), whereas a multiple or repeated audible signal 72 may indicatethat a pedestrian is very close to the vehicle 40 (e.g., 5 feet).Intermediate audible signals 74, 76 and 78 may include an intermediatenumber of repeated alerts to differentiate from the larger distanceindicated by signal 70 and the smaller distance indicated by signal 72.

Furthermore, if a pedestrian is hidden behind an object such as abuilding, or otherwise blocked from the view of a driver, the V2P systemmay alert the driver in a corresponding manner (e.g., alert 61 in FIG.7). The V2P system may, in some embodiments, be configured to detect thepresence of an object, such as a tree or a building, between a driverand a vehicle. In one aspect, the location of certain objects is storedin a database accessible to a V2P enabled device. In another aspect, thehidden pedestrian may be anticipated based on the GPS coordinate of thepedestrian and the driver in conjunction with map data. For example, thepedestrian may be located on a roadway that intersects a roadway onwhich the driver is traveling. The presence of the intersection isdetermined based on map data and the location of the pedestrian and thevehicle is determined based on GPS coordinates obtained from associatedV2P enabled devices. In a third aspect, a vehicle or device may beconfigured with a RADAR/SONAR system, video sensor (e.g., driver facingvideo camera) or other comparable system for the detection of objects.

In this case, if an object is detected between the vehicle and thepedestrian, the hidden pedestrian alert is presented to the driver orpedestrian. In a fourth aspect, the vehicle may be equipped with anoptical device such as a front- or rear-facing camera. In this case, theoptical device is configured to detect objects within a field of view.If it is determined that a pedestrian is in the vicinity of the vehicle,it may be determined that a pedestrian is hidden by an object within thefiled of view of the optical device. In one example, facial recognitionis used to determine if the pedestrian is visible. In another example,the information collected by the optical device and GPS coordinates ofthe pedestrian are combined to determine if the pedestrian is hidden.

Pedestrian Trajectory Prediction

In still another embodiment, the V2P communications system and methodsmay be applied to the analysis of a pedestrian's path history (e.g., GPSposition vs. time) to improve, for example, vehicle-pedestrian collisionwarning system performance. In one aspect, the BSM from the deviceassociated with the pedestrian may include the path history of thepedestrian, for example, as calculated by the device. This capabilitymay be useful to assess the behavior of a pedestrian and predict thefuture path of the pedestrian.

In one example, a V2P enabled device associated with a pedestrian, suchas mobile phone or other devices capable of processing and transceivingsafety messages, frequently transmits an awareness message such as aBSM. In one aspect, the message contains additional information, such asthe class of pedestrian (e.g., a child, a wheelchair user). In anotheraspect, a device associated with the pedestrian records a path of thepedestrian. For example the last 300 meters of the pedestrian's path arerecorded on the device. The path data may be represented as an array ofpoints including GPS, latitude, longitude, time offset, acceleration andother like attributes.

In another aspect, a vehicle may use the BSMs or other messages receivedfrom the device associated with the pedestrian and calculate the pathhistory. The vehicle may then use the path history data to determine theprobability of a future trajectory/path of the pedestrian, such as thelikelihood of street-crossing. Additional information may support thecalculation of the future path of the pedestrian, such as the currentheading and acceleration of the pedestrian, an approach of thepedestrian to a roadway, or predicted travel path of the vehicle.Furthermore, the path history may be used to detect the movement patternof the pedestrian, such as walking, running, jogging, hopping, or arandom movement. The characteristic pattern may be analyzed by a vehicleor a device. For example, hopping may be indicative of a childpedestrian, whereas random movements may be indicative of an inebriatedpedestrian.

The further classification of the pedestrian may be used to modify analert provided by the vehicle or another device. For example, for arunning pedestrian, the warning timing may be adjusted based on thespeed of the pedestrian. In the case of a hopping pedestrian or aninebriated pedestrian, the vehicle may warn the driver to use caution orindicate the presence of a randomly moving pedestrian. The above systemand methods also apply to the device associated with the pedestrian. Inone aspect, a device safety application may use the same path historyinformation to improve its safety application performance.

Additional scenarios for implementation of a V2P communications system &methods are described in Table 2.

TABLE 2 Exemplary Scenarios for V2P Communications System & MethodsCategory Exemplary Embodiment(s) Wheelchair Device detects pedestrian isdisabled and includes that information in the BSM. Vehicle adjustswarning/information accordingly. Detection of wheelchair may involveanalysis of motion characteristics using G- sensor (slow moving andwithout periodic vertical movement) or with button input by a user. Maybe used for blind people, for example, by detecting cane motion/sound.Path history Path history of a pedestrian may be used to estimate ofpedestrian likelihood of pedestrian crossing a street. It is more likelyif history indicates fast rate of travel (walking/running),perpendicular to a street, or the like. The likelihood is reflected viaan interface. Pedestrian's movement may be estimated with a G-sensor, orby detecting a walking or running rhythm. Headlight If pedestrian isdetected at night, the headlights may be control made to shine in thedirection of the pedestrian. Light angle changes in the presence ofpedestrian or honking a horn. See also: Data fusion with cameraDistracted Detection of a distracted driver by a driver in a following(e.g., texting) vehicle, or by surrounding infrastructure. One method todriver detect a distracted driver is to have a range-sensitive antennain the steering wheel. Another method includes a driver oriented camera.Driver may be warned with a steering wheel vibration. A driver operatinga vehicle without the use of the driver's hands (e.g., with knees) maybe detected with a load sensor in the steering wheel or a touch sensorin the steering wheel. Child with Methods to detect children using adevice with manual device input (e.g., parental controls), or smartcontext sensing (e.g., precise elevation threshold from GPS receiver inthe device). Movement pattern may differentiate children from adults.Additional information on device may also be analyzed for identificationof a child (e.g., social media login information). Distracted Detectdistracted pedestrian and present different pedestrian interface topedestrian. If pedestrian is texting, vehicle may produce audible alert(honk horn), if pedestrian is listening to music, an alert may includeboth an audible and a visual component (e.g., flash headlights and honkhorn). For a driver, an interface may show a different display, timingof alerts may be modified, a wider alarm zone may be applied, etc. For ablind pedestrian, the pedestrian's device may vibrate. The vehicle mayprepare for emergency braking. An interface of the device may provide analert. A light sensor may be used to detect if a device is in a hand orin a pocket. Vehicle to Vehicle sends a door open message to the deviceof the pedestrian exiting pedestrian. A G-sensor in the phone may alsobe transition used to detect the transition to a pedestrian. Data fusionDifferent interface modes are enacted when the camera with camera cannotdetect a pedestrian. If vehicle camera may detect a pedestrian and DSRCdetects pedestrian, the system shows a particular warning to the driver,especially if a driver is looking forward. If only DSRC detectspedestrian but camera does not (e.g., non-line-of-sight propagation orlow light/inclement weather scenario) an interface displays a differentalert. Using Detect walking, stopping, trotting, and the like. See also:pedestrian Path history of pedestrian motion Unlock Vehicle may predictthat pedestrian will not cross a street. information Pedestrian use ofkey fob (e.g., unlock button) may be detected. Alerts may be adjusted asappropriate. Internal signal, key fob, a device, and the like may havededicated functions for integration with V2P system. VRU detectionSystem may be used to classify certain pedestrians (e.g., a usingG-sensor bicyclist, running pedestrian) as higher priority objects forin device alert generation. See also: Path history of pedestrianSidewalk GPS Maps data may be used to make adjustments to an informationinterface in order to reduce false alarms. Data may be further used toanticipate a pedestrian transition to a driver or a vehicle leaving aparking lot. Information may be used for advanced parking spot finderapplications to predict a pedestrian destination. See also: Unlockinformation Inebriated Detect characteristic movements (e.g., wandering,pedestrian staggering) via motion sensor or path history. Geographicinformation such as distance to a public house or bar may also be used.Intelligent Estimate safe driving speed using pedestrian informationspeed such as distance, pedestrian path direction and speed, adaptationpedestrian distraction level, characteristic movement and (ISA) usingthe like. Geographic information, such as locations of pedestrian infosidewalks, crosswalks, or places common pedestrian areas may also beused. Estimated safe speed may be used to guide the driver or the speedmay be limited automatically. Detect a Detect a pedestrian's distractionstate without using a pedestrian message (BSM) from a pedestrian. Onemethod uses the distraction difference of a received radio or G-sensorsignal from a state in the device in a pedestrian's hand, a pocket or abag. absence of a message from the pedestrian Device to A used (e.g.,pedestrian) desires to communicate with a Transportation public/privatetransit operator (e.g., bus driver). Operator may be alerted to positionand destination of the user.Further Examples

Turning to FIGS. 9-13, example algorithms for use with a V2Pcommunication system may include vehicle and pedestrian trajectoryprediction. In one aspect, a vehicle trajectory may be predicted basedon a yaw rate of the vehicle 40 (FIGS. 9 and 10). In one aspect, a yawrate may be used to predict a heading of the vehicle 40 in radians(rad). Thereafter, the warn zone 54 and the warn/brake zone 56 may bedetermined based on parameters such as a known or measured lane width ofthe road 50 in meters (m), a bumper offset of the vehicle 40 in meters(m), or a velocity of the vehicle 40 in meters per second (m/s). Thewarn zone 54 and the warn/brake zone 56 may correspond to zone 54 andzone 56 illustrated in FIG. 6. A warn/brake zone 56 may include a firstdistance extending along a path of the vehicle 40 from the front bumperof the vehicle. The first distance may be determined based on a known orpredetermined warn/brake time in seconds (s) multiplied by the currentvelocity (m/s) of the vehicle 40. By comparison, a warn zone 54 mayinclude a second distance extending along a path of the vehicle 40 fromthe end of the warn/brake zone 56. The second distance may be determinedbased on a known or predetermined warn time in second (s) multiplied bythe current velocity (m/s) of the vehicle 40.

With reference to FIG. 11, a pedestrian trajectory may be predictedbased on a current heading of a pedestrian 20. A pedestrian zone 58 maybe defined based on parameters such as a known or estimated width(offset) of the pedestrian 20 in meters (m), a pedestrian warn time (s)or a pedestrian velocity in meters per second (m/s). In one aspect, apedestrian zone 58 may include a distance extending along a path of thepedestrian 20 from the front of the pedestrian 20 (or pedestrian offsetdistance). The distance may be determined based on a known pedestrianwarn time (s) multiplied by the current velocity (m/s) of the pedestrian20.

In some embodiments of a V2P communication system, either a deviceassociated with the pedestrian 20 or a device associated with vehicle 40may be used to calculate one or more of the vehicle trajectory, vehiclewarn zone 54, vehicle warn/brake zone 56, pedestrian trajectory, andpedestrian zone 58. Moreover, one or more of the aforementionedcalculations may be transmitted as a component of a BSM. As shown inFIGS. 12 and 13, this information may be used to determine whether ornot a pedestrian zone 58 may intersect with a vehicle warn zone 54 (FIG.12) or warn/brake zone 56 (FIG. 13). In one aspect, if a pedestrian zone58 intersects with a vehicle warn zone 54, then a human machineinterface (HMI) or other like alert display associated with vehicle 40may display an alert 65 indicating a pedestrian 20 approaching theroadway 50 from the left. In another aspect, if a pedestrian zone 58intersects with a vehicle warn/brake zone 56, then an HMI associatedwith vehicle 40 may display an alert 66 indicating that the driver ofthe vehicle 40 should brake.

Turning to FIGS. 14-16, a further example algorithm for use with a V2Pcommunication system may include vehicle and pedestrian headingdifference calculations. Using one or more trajectory predictiontechniques, it may be determined that a pedestrian 20 is headed in agenerally parallel direction to a vehicle 40 (FIG. 14) or that apedestrian 20 is headed in a generally perpendicular (or other angular)direction to a vehicle 40 (FIG. 15). Accordingly a device associatedwith a pedestrian 20 or vehicle 40 may determine an angle between theheading or trajectory of the pedestrian 20 and the heading or trajectoryof the vehicle 40. In a method 100, a determination may be made in astep 102 as to whether the angle between the headings of the pedestrian20 and vehicle 40 is less than about 45 degrees. If the angle is lessthan about 45 degrees (see, e.g., FIG. 14), then in a step 104, asuppressed warning algorithm may be relied upon for further calculationsby a device associated with either pedestrian 20 or vehicle 40. In oneaspect, the device associated with the vehicle 40 may determine in astep 104 to suppress the display of a warning to a driver of the vehicle40 as a pedestrian 20 travelling parallel to the vehicle 40 may not posea threat. However, if a determination is made that the angle is greaterthan about 45 degrees (see, e.g., FIG. 15), then in a step 106, aregular warning algorithm may be relied upon for further calculations bya device associated with either pedestrian 20 or vehicle 40. Forexample, an HMI associated with the vehicle 40 may provide an alert 65to the driver of the vehicle 40 indicating that a pedestrian isapproaching from the right or left as appropriate.

In some embodiments, a V2P communication system may include one or moremethods for providing a warning or other alert to one or morepedestrians, one or more vehicle drivers, or a combination thereof. Inone example, a method 200 as shown in FIGS. 17 and 18 may include a step202 of acquiring vehicle parameters. Acquiring vehicle parameters caninclude measuring or recording information such as the GPS coordinatesof the vehicle, the heading, speed, yaw rate, or brake state of thevehicle, the level of distraction of a driver of the vehicle, or otherlike information. The information may be acquired by communicating withone or more system or processor within the vehicle. The vehicleparameters acquired in the step 202 may then be used in a step 204individually or in combination with other information to predict a path(e.g., a trajectory, heading, or the like) of the vehicle.

By comparison, a step 206 of the method 200 may include receiving amessage from a pedestrian equipped with a V2P device. In one aspect, themessage received in the step 206 may include information such as one ormore pedestrian parameters. In another aspect, the message received inthe step 206 may simply include an indication that there is a pedestrianin the vicinity of the vehicle. Thereafter, a step 208 may includeacquiring one or more pedestrian parameters such as the GPS coordinatesof the pedestrian, the heading, speed or movement pattern of thepedestrian, the distraction level of the pedestrian, or other likeparameters. The parameters acquired in the step 208 may be used in astep 210 to predict a pedestrian path. Prediction of a pedestrian pathin the step 208 and prediction of a vehicle path in the step 204 mayinclude a preliminary analysis to determine whether there is anypossibility of a collision between the pedestrian and the vehicle.Accordingly, a step 212 may include performing threat arbitration todetermine the probability of a collision between a vehicle and two ormore distinct pedestrians. For example, if multiple pedestrians arepredicted to have a path that will intersect with a path of the vehicle,the step 212 may include determining the pedestrian with the highestprobability of intersecting the path of the vehicle. Alternatively (orin addition), the step 212 may include determining which of thepedestrians may have the highest probability of intersecting thewarn/brake zone of the vehicle.

With continued reference to the method 200 in FIGS. 17 and 18, a step214 may include a determination as to whether a predicted path of thepedestrian intersects with the warn/brake zone of the vehicle. In oneexample, the warn/brake zone of the vehicle may be determined in thestep 204. If the path of the pedestrian is determined or predicted tointersect with the warn/brake zone of the vehicle, then in a step 216,an HMI of the vehicle may be actuated to display a corresponding alert,such as the alert 66 in FIG. 7. By comparison, if the path of thepedestrian is not predicted to intersect the warn/brake zone of thevehicle in the step 214, a determination may be made as to whether ornot a driver of the vehicle is distracted. A determination of a level orprobability of driver distraction may be determined using any suitablemethod such as one or more of the methods described herein. If it isdetermined in the step 218 that the driver is distracted, then in a step220, the HMI of the vehicle may be actuated to display or otherwiseprovide a corresponding alert, such as an audible alert to the driver.Alternatively (or in addition), an alert may be provided to thepedestrian or a driver of another vehicle indicating the distractedstatus of the driver. However, if the determination is made that thedriver is not distracted in the step 218, or if the vehicle HMI isactuated in the step 220, then the method 200 may proceed to a step 222.

The step 222 may include a determination as to whether a predicted pathof the pedestrian intersects with the warn zone of the vehicle. In oneexample, the warn zone of the vehicle may be determined in the step 204.If the path of the pedestrian is determined or predicted to intersectwith the warn zone of the vehicle, then, in a step 224, a determinationmay be made as to whether or not a warning suppression feature of theV2P system is active in a step 224. If the path of the pedestrian is notpredicted to intersect the warn zone of the vehicle in the step 222, orif a warning suppression feature of the V2P system is determined to beactive in the step 22, then in a step 226, the HMI of the vehicle may beactuated to display or otherwise provide a corresponding alert, such abasic alert indicating the presence of a pedestrian to one side of thevehicle.

By comparison, if in the step 224 a determination is made that warningsuppression is not active, then the method 200 may proceed to a step228, for example, to determine the status of the pedestrian. The step228 may include a determination as to whether or not a pedestrian may bedistracted with a phone call. In one aspect the pedestrian may bedialing a phone number, receiving a phone call, talking on the phone, orthe like. If a determination is made in the step 228 that the pedestrianmay be distracted with a phone call, the vehicle HMI may be actuated ina step 230 to display a directional alert indicating the position of thepedestrian relative to the vehicle in addition to an indication of thepedestrian being distracted with a phone call (see, e.g., alert 64 inFIG. 7).

If in the step 228 a determination is made that the pedestrian is notdistracted with a phone call, then the method 200 may proceed to a step232. The step 232 may include a determination as to whether or not apedestrian may be distracted with a text messaging or internet browsingoperation. In one aspect the pedestrian may be sending, reading orreceiving a text message, or may be using the phone to access theinternet, interact with a web page, or the like. If a determination ismade in the step 232 that the pedestrian is distracted with a textmessage or internet browsing operation, the vehicle HMI may be actuatedin a step 234 to display a directional alert indicating the position ofthe pedestrian relative to the vehicle in addition to an indication ofthe pedestrian being distracted with a text messaging or internetbrowsing operation (see, e.g., alert 62 in FIG. 7).

If in the step 232 a determination is made that the pedestrian is notdistracted with a text messaging or internet browsing operation, thenthe method 200 may proceed to a step 236. The step 236 may include adetermination as to whether or not a pedestrian may be distractedlistening to music. In one aspect the pedestrian may be operating adevice to select a song, play a song, or the like. In another aspect,the device may detect whether the device is connected to headphones or aheadset. If a determination is made in the step 232 that the pedestrianis distracted by listening to music, the vehicle HMI may be actuated ina step 238 to display a directional alert indicating the position of thepedestrian relative to the vehicle in addition to an indication of thepedestrian being distracted by listening to music (see, e.g., alert 63in FIG. 7). By comparison, if in the step 236 a determination is madethat the pedestrian is not distracted by listening to music, then themethod 200 may proceed to a step 240. The step 240 may include actuatingthe vehicle HMI to display a basic directional alert indicating theposition of the pedestrian relative to the vehicle (see, e.g., alert 65in FIG. 7). It will be appreciated that the method 200 may include oneor more additional classification steps in order to convey a status of apedestrian or driver to another member of a V2P communication system.

The schematic flow charts shown in the figures are generally set forthas logical flow chart diagrams. As such, the depicted order and labeledsteps are indicative of one embodiment of the presented methods. Othersteps and methods may be conceived that are equivalent in function,logic, or effect to one or more steps, or portions thereof, of theillustrated methods. Additionally, the format and symbols employed inthe figures are provided to explain the logical steps of the method andare understood not to limit the scope of the methods. Although variousarrow types and line types may be employed, they are understood not tolimit the scope of the corresponding method. Indeed, some arrows orother connectors may be used to indicate only the logical flow of themethod. For instance, an arrow may indicate a waiting or monitoringperiod of unspecified duration between enumerated steps of the depictedmethod. Additionally, the order in which a particular method occurs mayor may not strictly adhere to the order of the corresponding stepsshown.

The present invention has been described in terms of one or morepreferred embodiments, and it should be appreciated that manyequivalents, alternatives, variations, and modifications, aside fromthose expressly stated, are possible and within the scope of theinvention.

Each reference identified in the present application is hereinincorporated by reference in its entirety.

What is claimed is:
 1. A vehicle-to-pedestrian (V2P) communicationsystem, comprising: a vehicle operable by a driver and configured tocommunicate with a first V2P device associated with the vehicle, thefirst V2P device configured for: communicating with at least one vehiclesystem to acquire vehicle parameters for the vehicle including the firstV2P device, the vehicle parameters including at least one of a locationand a speed of the vehicle; predicting a future path of the vehiclebased on at least one of the vehicle parameters; receiving at least oneBasic Safety Message (BSM) from a second V2P device associated with apedestrian via a wireless communications channel; acquiring pedestrianparameters for the pedestrian from at least one of the at least one BSMand the second V2P device, the pedestrian parameters including at leastone of a position and a speed of the pedestrian; determining whether thefuture path of the vehicle intersects with a future path of thepedestrian using the vehicle parameters, the at least one BSM, and thepedestrian parameters; and when the future path of the vehicleintersects with the future path of the pedestrian, providing an a visualalert to at least one of a driver of the vehicle and the pedestrian,wherein the visual alert includes a visual directional indication of alocation of the pedestrian relative to the vehicle and at least one ofan indication that the pedestrian is distracted with a phone call, anindication that the pedestrian is distracted with a text-messagingoperation, an indication that the pedestrian is distracted with anInternet browsing operation, and an indication that the pedestrian isdistracted by listening to music.
 2. The system of claim 1, wherein thefirst V2P device is further configured for predicting a the future pathof the pedestrian based on at least one of the pedestrian parameters. 3.The system of claim 1, wherein the first V2P device is furtherconfigured for receiving BSMs from a plurality of V2P devices associatedwith respective pedestrians, and performing threat arbitration todetermine a probability of a collision between the vehicle and each oneof the pedestrians.
 4. The system of claim 1, wherein at least one ofthe first V2P device and the second V2P device is operable on aDedicated Short Range Communications (DSRC) network.
 5. The system ofclaim 1, wherein at least one of the first V2P device and the second V2Pdevice is operable to transmit a Basic Safety Message (BSM).
 6. A methodof operating a vehicle-to-pedestrian (V2P) communication system, themethod comprising: communicating with at least one vehicle system toacquire vehicle parameters for a vehicle including a first V2P device,the vehicle parameters including at least one of a location and a speedof the vehicle; predicting a future path of the vehicle based on atleast one of the vehicle parameters; receiving at least one Basic SafetyMessage (BSM) from a second V2P device associated with a pedestrian viaa wireless communications channel; acquiring pedestrian parameters forthe pedestrian, the pedestrian parameters including at least one of aposition and a speed of the pedestrian; predicting a future path of thepedestrian based on at least one of the pedestrian parameters;determining whether the future path of the vehicle intersects with thefuture path of the pedestrian; and when the future path of the vehicleintersects with the future path of the pedestrian, providing an a visualalert to at least one of a driver of the vehicle and the pedestrian,wherein the visual alert includes a visual directional indication of alocation of the pedestrian relative to the vehicle and at least one ofan indication that the pedestrian is distracted with a phone call, anindication that the pedestrian is distracted with a text-messagingoperation, an indication that the pedestrian is distracted with aninternet browsing operation, and an indication that the pedestrian isdistracted by listening to music.
 7. The method of claim 6, furtherincluding: receiving BSMs from a plurality of V2P devices associatedwith respective pedestrians; and performing threat arbitration todetermine a probability of a collision between the vehicle and thepedestrians.
 8. The method of claim 6, wherein at least one of the firstV2P device and the second V2P device is operable on a Dedicated ShortRange Communications (DSRC) network.
 9. The method of claim 6, whereinat least one of the first V2P device and the second V2P device isoperable to transmit a Basic Safety Message (BSM).
 10. The method ofclaim 9, wherein the BSM includes a classification of the pedestrian.11. The method of claim 6, wherein the vehicle includes at least one ofan audible alert system and a visual alert system perceptible by thepedestrian, and wherein the audible alert system and the visual alertsystem are actuatable by at least one of the first device and the seconddevice.
 12. The method of claim 6, wherein at least one of the firstdevice and the second device is configured to detect at least one of adriver-to-pedestrian transition and a pedestrian-to-driver transition.13. The method of claim 6, wherein at least one of the first device andthe second device is configured for at least one of distracted driverdetection, distracted pedestrian detection and pedestrian trajectoryprediction.
 14. A vehicle-to-pedestrian (V2P) communication system,comprising a vehicle operable by a driver and including a first V2Pdevice, the first V2P device configured for: communicating with at leastone vehicle system of the vehicle to acquire vehicle parameters for thevehicle, the vehicle parameters including at least one of a location anda speed of the vehicle; predicting a future path of the vehicle based onat least one of the vehicle parameters; acquiring pedestrian parametersfrom a second V2P device associated with a pedestrian via a wirelesscommunications channel, the pedestrian parameters including at least oneof a position and a speed of the pedestrian; determining whether thefuture path of the vehicle intersects with a future path of thepedestrian using the vehicle parameters and the pedestrian parameters;and when the future path of the vehicle intersects with the future pathof the pedestrian, displaying a visual alert to at least one of a driverof the vehicle and the pedestrian, wherein the visual alert includes avisual directional indication of a location of the pedestrian relativeto the vehicle.
 15. The system of claim 14, wherein the first V2P deviceis further configured for: acquiring a plurality of pedestrianparameters from a plurality of V2P devices associated with a pluralityof pedestrians via a wireless communications channel, the plurality ofpedestrian parameters including at least one of a position and a speedof each of the plurality of pedestrians; predicting a plurality offuture paths of the plurality of pedestrians based on the plurality ofpedestrian parameters; determining which one of the plurality of futurepaths of the plurality of pedestrians has a highest probability ofintersecting with the future path of the vehicle.
 16. The system ofclaim 14, wherein: at least one of the first V2P device and the secondV2P device is configured for detecting whether the pedestrian isdistracted from attentiveness to a surroundings of the pedestrian; andwhen it is detected that the pedestrian is distracted, the visual alertfurther includes a visual indication that the pedestrian is distracted.17. The system of claim 16, wherein when it is detected that thepedestrian is distracted, the visual alert varies as a function of atype of distraction causing the pedestrian to be distracted.
 18. Thesystem of claim 16, wherein detecting whether the pedestrian isdistracted includes detecting at least one of use of a mobile deviceassociated with the pedestrian, movement of the mobile device, or acurrent light level to which the mobile device is exposed.
 19. Thesystem of claim 14, wherein: at least one of the first V2P device andthe second V2P device is configured for detecting whether the driver isdistracted from attentiveness to a surroundings of the driver; and whenit is detected that the driver is distracted, the visual alert furtherincludes a visual indication that the driver is distracted.
 20. Thesystem of claim 19, wherein detecting whether the driver is distractedincludes detecting at least one of use of a mobile device associatedwith the driver, a distance of the mobile device to a steering wheel, oran interaction between the driver and a sensor on the steering wheel.21. The system of claim 14, wherein the visual alert varies as afunction of a velocity of the vehicle and a distance between thepedestrian and the vehicle.
 22. The system of claim 14, wherein: atleast one of the first V2P device and the second V2P device isconfigured for detecting whether the pedestrian is hidden from a view ofthe driver; and when it is detected that the pedestrian is hidden fromthe view of the driver, the visual alert further includes a visualindication that the pedestrian is hidden from the view of the driver.23. The system of claim 22, wherein detecting whether the pedestrian ishidden from a view of the driver includes detecting a presence of anobject between the pedestrian and the vehicle.
 24. A method of operatinga vehicle-to-pedestrian (V2P) communication system, the methodcomprising: communicating with at least one vehicle system of a vehicleto acquire vehicle parameters for the vehicle including a first V2Pdevice, the vehicle parameters including at least one of a location anda speed of the vehicle; predicting a future path of the vehicle based onat least one of the vehicle parameters; acquiring pedestrian parametersfrom a second V2P device associated with a pedestrian via a wirelesscommunications channel, the pedestrian parameters including at least oneof a position and a speed of the pedestrian; predicting a future path ofthe pedestrian based on at least one of the pedestrian parameters;determining whether the future path of the vehicle intersects with thefuture path of the pedestrian; and when the future path of the vehicleintersects with the future path of the pedestrian, displaying a visualalert to at least one of a driver of the vehicle and the pedestrian,wherein the visual alert includes a visual directional indication of alocation of the pedestrian relative to the vehicle.
 25. The system ofclaim 24, the first V2P device is further configured for: acquiring aplurality of pedestrian parameters from a plurality of V2P devicesassociated with a plurality of pedestrians via a wireless communicationschannel, the plurality of pedestrian parameters including at least oneof a position and a speed of each of the plurality of pedestrians;predicting a plurality of future paths of the plurality of pedestriansbased on the plurality of pedestrian parameters; determining which oneof the plurality of future paths of the plurality of pedestrians has ahighest probability of intersecting with the future path of the vehicle.26. The system of claim 24, wherein: at least one of the first V2Pdevice and the second V2P device is configured for detecting whether thepedestrian is distracted from attentiveness to a surroundings of thepedestrian; when it is detected that the pedestrian is distracted, thevisual alert further includes a visual indication that the pedestrian isdistracted.
 27. The system of claim 26, wherein when it is detected thatthe pedestrian is distracted, the visual alert varies as a function of atype of distraction causing the pedestrian to be distracted.
 28. Thesystem of claim 26, wherein detecting whether the pedestrian isdistracted includes detecting at least one of use of a mobile deviceassociated with the pedestrian, movement of the mobile device, or acurrent light level to which the mobile device is exposed.
 29. Thesystem of claim 24, wherein: at least one of the first V2P device andthe second V2P device is configured for detecting whether the driver isdistracted from attentiveness to a surroundings of the driver; and whenit is detected that the driver is distracted, the visual alert furtherincludes a visual indication that the driver is distracted.
 30. Thesystem of claim 29, wherein detecting whether the driver is distractedincludes detecting at least one of use of a mobile device associatedwith the driver, a distance of the mobile device to a steering wheel, oran interaction between the driver and a sensor on the steering wheel.31. The system of claim 24, wherein the visual alert varies as afunction of a velocity of the vehicle and a distance between thepedestrian and the vehicle.
 32. The system of claim 24, wherein: atleast one of the first V2P device and the second V2P device isconfigured for detecting whether the pedestrian is hidden from a view ofthe driver; and when it is detected that the pedestrian is hidden fromthe view of the driver, the visual alert further includes a visualindication that the pedestrian is hidden from the view of the driver.33. The system of claim 32, wherein detecting whether the pedestrian ishidden from the view of the driver includes detecting a presence of anobject between the pedestrian and the vehicle.